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Commit ff7d5b0c authored by simalpha's avatar simalpha
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Store denser path.

parent e7fb8171
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aicp_core/src/registration/app.cpp
View file @ ff7d5b0c
......@@ -394,11 +394,13 @@ void App::operator()() {
total_correction_ = fromMatrix4fToIsometry3d(initialT_);
updated_correction_ = true;
vis_->publishPose(aligned_clouds_graph_->getLastCloud()->getCorrectedPose(), 0, "",
cloud->getUtime());
// Store aligned map and VISUALIZE
if(aligned_clouds_graph_->getLastCloud()->isReference())
{
vis_->publishPose(aligned_clouds_graph_->getCurrentReference()->getCorrectedPose(), 0, "",
cloud->getUtime());
// vis_->publishPose(aligned_clouds_graph_->getCurrentReference()->getCorrectedPose(), 0, "",
// cloud->getUtime());
reference_vis_ = aligned_clouds_graph_->getCurrentReference()->getCloud();
vis_->publishCloud(reference_vis_, 0, "", cloud->getUtime());
// Output map
......
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